Camera array including camera modules

ABSTRACT

The disclosure includes a camera array comprising camera modules, the camera modules comprising a master camera that includes a processor, a memory, a sensor, a lens, a status indicator, and a switch, the switch configured to instruct each of the camera modules to initiate a start operation to start recording video data using the lens and the sensor in the other camera modules and the switch configured to instruct each of the camera modules to initiate a stop operation to stop recording, the status indicator configured to indicate a status of at least one of the camera modules.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. Utility Patent ApplicationSer. No. 15/243,122, entitled “Camera Array Including Camera Modules”and filed on Aug. 22, 2016, which is a continuation of U.S. Utilitypatent application Ser. No. 14/444,938, entitled “Camera Array IncludingCamera Modules” and filed on Jul. 28, 2014 (now U.S. Pat. No.9,451,162), the entirety of both of which are hereby incorporated byreference. This application claims the benefit of the followingapplications, the entirety of each of which is hereby incorporated byreference: U.S. Provisional Patent Application Ser. No. 61/868,527entitled “Panoptic Virtual Presence System and Method” and filed on Aug.21, 2013; U.S. Provisional Patent Application No. 62/004,645 entitled“Camera Array Including Camera Modules” and filed on May 29, 2014; U.S.Provisional Patent Application No. 62/008,215 entitled “Color Consensus”and filed on Jun. 5, 2014; and U.S. Provisional Patent Application No.62/029,254 entitled “Virtual Presence” and filed on Jul. 25, 2014.

FIELD

The embodiments discussed herein are related to a camera system. Moreparticularly, the embodiments discussed herein relate to a camera systemincluding one or more camera modules for recording images.

BACKGROUND

Existing camera systems using multiple cameras to record videos indifferent locations or the same location may generate videos with poorquality. For example, cameras in a security system may capture videosindependently without considering synchronization between the differentcameras. Each camera may operate independently from the other cameraswith no coordination between the different cameras.

The subject matter claimed herein is not limited to embodiments thatsolve any disadvantages or that operate only in environments such asthose described above. Rather, this background is only provided toillustrate one example technology area where some embodiments describedherein may be practiced.

SUMMARY

According to one innovative aspect of the subject matter described inthis disclosure, a camera system comprises a camera array comprisingcamera modules, the camera modules comprising a master camera thatincludes a processor, a memory, a sensor, a lens, a status indicator,and a switch, the switch configured to instruct the camera modules toinitiate a start operation to start recording video data using the lensand the sensor in each of the camera modules and the switch configuredto instruct the camera modules to initiate a stop operation to stoprecording, the status indicator configured to indicate a status of atleast one of the camera modules or the camera array.

In general, another innovative aspect of the subject matter described inthis disclosure may be embodied in methods that include: housing formingapertures for the camera modules and wherein the camera modules comprisehousing that is rotationally symmetrical; housing in the shape of ahoneycomb, the center of each compartment of the honeycomb forming anaperture for one of the camera modules; a microphone array configured tocapture audio for enabling reconstruction of sound from any arbitrarydirection; an aggregation system for generating a stream ofthree-dimensional video and audio data for displaying panoramic images;a viewing system configured to decode and render the three-dimensionalvideo and play the audio data on a virtual reality display and surroundsound system; a connection hub linking the camera modules and configuredto transfer the video data from at least one of the camera modules to aclient device, the connection hub including a battery for supplyingpower to each of the camera modules.

These and other implementations may each optionally include one or moreof the following operations and features. For instance, the featuresinclude: the camera modules forming a daisy chain with the master camerabeing coupled to a first camera module that is coupled to an “n” cameramodule that is coupled to the master camera; each camera module beingpositioned to have at least one overlapping field of view with anothercamera module; the status of one of the camera modules including afaulty status and the status indicator indicating the faulty statusresponsive to a fault occurring in one of the camera modules; the statusindicator being an overall status indicator configured to indicate thefaulty status of a fault occurring in any of the camera modules andwherein the camera modules further include individual status indicatorsconfigured to indicate the fault status of the fault occurring in one ofthe camera modules; the camera modules being synchronized through adaisy chain to capture corresponding video data in different directionssimultaneously; wherein the camera modules pass control and statusmessages to one another via the daisy chain.

According to another innovative aspect of the subject matter describedin this disclosure, a method comprises identifying, with one or moreprocessors, a device identifier and a position of each camera module ina camera array, the camera modules including a master camera; confirmingan absence of faults in the camera module; initiating a start operationin the master camera, the master camera instructing the other cameramodules to start recording; receiving video data comprising image framesfrom the camera modules; stitching the image frames together based onthe video data; generating three-dimensional video; synchronize audiodata; and generating a stream of the three-dimensional video and theaudio data for displaying panoramic images. In some embodiments, themethod is further configured to perform geometric calibration toidentify a relative position of each camera module. In some embodiments,the image frames are stitched together based on calibration relativeposition of each camera module. In some embodiments, the method isfurther configured to generate a user interface for viewing video datafrom one of the camera modules

Other aspects include corresponding methods, systems, apparatus, andcomputer program products for these and other innovative aspects.

The disclosure is particularly advantageous in a number of respects.First, the camera array generates a realistic three-dimensionalexperience for users. Second, the camera modules are designed to berotationally symmetrical with interchangeable components, which makesmodifications easier to implement. Third, the aggregation systemincludes a user interface for allowing a user to view different levelsof detail including a preview of the virtual reality experience, and theimages from individual camera modules.

BRIEF DESCRIPTION OF THE DRAWINGS

Example embodiments will be described and explained with additionalspecificity and detail through the use of the accompanying drawings inwhich:

FIG. 1 illustrates a block diagram of some embodiments of an examplecamera system for recording video data using one or more camera modules;

FIG. 2 illustrates a block diagram of some embodiments of an exampleaggregation system;

FIG. 3A illustrates an example system comprising a camera array and aconnection hub according to some embodiments;

FIG. 3B illustrates an example housing according to some embodiments;

FIG. 3C illustrates an example microphone array according to someembodiments;

FIG. 4 illustrates an example method for providing video data using acamera array according to some embodiments; and

FIG. 5 illustrates an example method for detecting a faulty cameramodule according to some embodiments.

DESCRIPTION OF EMBODIMENTS

The disclosure relates to a camera system that includes a camera arraywith one or more camera modules. Applications for the camera system mayinclude, but are not limited to, a rear camera system for a vehicle, arobot installed with a camera array including one or more cameramodules, a high-end filming tool, and other suitable applications withvirtual presence. For example, one application of the camera system mayinclude providing a virtual reality (VR) experience to users. An idealvirtual reality experience is one that creates a realistic sense ofbeing in another place. Creating such an experience may involvereproducing three dimensional (3D) video for a scene. The disclosure mayrelate to a panoptic virtual presence system and method that is designedto create a realistic sense of being in another place by providing animmersive 3D viewing experience. Examples of 3D scenes that a user mightenjoy experiencing include vacation spots, sporting events, a wedding, aconference, a press conference, confirming a location as part of mappingsoftware, experiencing an underwater scene, experiencing a starlingmurmuration, scene changes that are accelerated with time-lapsephotography, etc.

The camera system according to an example embodiment may include acamera array, a connection hub (e.g., a universal serial bus (USB) hub)coupled to the camera array, and a client device (e.g., a laptopcomputer) coupled to the connection hub. The camera array may includemultiple camera modules configured to capture video data for the sameobject or the same scene from multiple angles at the same time. Eachcamera module may include a processor, a memory, a sensor, and a lens.The camera modules in the camera array may be coupled in a daisy chainfor passing control and status messages to one another via the daisychain and synchronizing timing of image frames captured by differentcamera modules. For example, the camera modules are synchronized tostart and to stop recording video data at the same time so that imageframes from the different camera modules are synchronized.

One of the camera modules in the camera array may be a master cameramodule that includes a switch (e.g., a micro switch) for controlling theoperations of the camera modules. For example, a user may press theswitch a first time to start recording video data simultaneously usingall the camera modules in the camera array. The user may press theswitch a second time to stop the recording of the video data.

In some embodiments, the camera array additionally includes an overallstatus indicator (e.g., a light-emitting diode (LED)) coupled to thelast camera module in the daisy chain. The overall status indicator mayindicate an overall status of the camera array. If all of the cameramodules in the camera array are fault-free (e.g., all camera modulesfunction properly), the overall status indicator indicates a normalstatus for the camera array. However, if a fault occurs to at least oneof the camera modules, the overall status indicator indicates a faultystatus for the camera array. Each camera module may additionally includea corresponding status indicator for indicating an individual status ofthe corresponding camera module. By utilizing the overall statusindicator in the camera array and the respective status indicators inthe camera modules, the overall status of the camera array and theindividual statuses of the camera modules may be monitored at any time.For example, if a memory card in a camera module is full, both theoverall status indicator and the individual status indicatorcorresponding to the camera module may indicate a faulty status,allowing a user operating the camera array to determine which cameramodule has a fault.

The camera array may be at least part of a modular camera system, witheach camera forming a module of the modular camera system. The cameraarray has a flexible structure so that it is easy to remove a particularcamera module from the camera array and to add new camera modules to thecamera array. The camera modules in the camera array may be configuredin different geometries. For example, the camera array includes multiplecamera modules arranged in a line, a cylinder, a sphere, or anothergeometry. Each camera module may be configured to point to a differentdirection so that the camera array may capture an object or a scene frommultiple directions at the same time.

The camera modules may be coupled to the connection hub for transferringvideo data captured by the camera modules to the client device via theconnection hub. In some embodiments, the camera modules do not havebuilt-in batteries, and the connection hub may include a battery forsupplying power to the camera modules. The connection hub may be coupledto the client device for sending the video data to the client device.

The camera system described herein may include two types ofcommunication mechanisms, including a first communication mechanism fordata communication between the different camera modules (e.g., a bus forcommunication between the different camera modules) and a secondcommunication mechanism for centrally controlling the operation of thecamera modules (e.g., a control bus for controlling operations of thecamera modules).

The camera system described herein may additionally include a set ofalgorithms for processing the video data captured by the camera array.The set of algorithms are stored on a non-transitory memory forconverting the input across multiple camera modules into a single streamof 3D video (e.g., a single compressed stream of 3D video data). The setof algorithms may be implemented in one or more “modules” as describedin more detail below with reference to FIG. 2. For example, the set ofalgorithms includes color correction algorithms for smoothing andcorrecting colors in the video data. In another example, the set ofalgorithms may be implemented in software that stitches the video datafrom multiple cameras into two large-format, panoramic video streams forleft and right eye viewing, and encodes and compresses the video using astandard MPEG format or other suitable encoding/compression format.

Embodiments described herein contemplate various additions,modifications, and/or omissions to the above-described panoptic virtualpresence system, which has been described by way of example only.Accordingly, the above-described camera system should not be construedas limiting. For example, the camera system described with respect toFIG. 1 below may include additional and/or different components orfunctionality than described above without departing from the scope ofthe disclosure.

Embodiments of the specification will be explained with reference to theaccompanying drawings.

FIG. 1 illustrates a block diagram of some embodiments of a camerasystem 100 arranged in accordance with at least one embodiment describedherein. The illustrated system 100 includes a camera array 101, aconnection hub 123, a client device 127, and a server 129. The clientdevice 127 and the server 129 may be communicatively coupled via anetwork 105. Additions, modifications, or omissions may be made to theillustrated embodiment without departing from the scope of thedisclosure, as will be appreciated in view of the disclosure.

While FIG. 1 illustrates one camera array 101, one connection hub 123,one client device 127, and one server 129, the disclosure applies to asystem architecture having one or more camera arrays 101, one or moreconnection hubs 123, one or more client devices 127, and one or moreservers 129. Furthermore, although FIG. 1 illustrates one network 105coupled to the entities of the system 100, in practice one or morenetworks 105 may be connected to these entities and the one or morenetworks 105 may be of various and differing types.

In one embodiment, the system 100 includes a housing (not shown). Thehousing may be a single sheet of metal or other material with apertureswhere the camera modules 103 may be coupled to the camera array 101. Insome embodiments, the housing may be water resistant or waterproof.Water resistant housing may be used outdoors during a rain storm withoutdamaging the camera modules 103. Waterproof housing may be used forcapturing video underwater. In some embodiments, waterproof housing alsowithstands pressure for capturing video deep underwater.

The housing may be constructed from a heat dissipating material thatdraws heat from the camera modules 103 for dissipation in theatmosphere. In some embodiments the camera modules 103 also includingmetal housing to create a path for the heat to exit the camera array101. Other devices for aiding in heat dissipation within the system 100are possible, for example, the system 100 may include tubing for runningwater throughout the system to cool the components of the system 100.Other examples may include a silent fan for blowing hot air out of thesystem 100, heat sinks, and heat dissipating putty. Yet another exampleis to include slits in the housing for passive air cooling. In someembodiments, the heat dissipating materials are selected based on theirabsence of noise so that they avoid interfering with the audiorecording. Another way to improve heat dissipation is to configure thegreatest heat producing components of the camera array to be as close tothe surface as possible. For example, the ISP 115 in the camera module103 may be located along the edge of the camera module 103.

In some embodiments, the system 100 includes a temperature sensor fordetermining the temperature of the camera array 101. In someembodiments, the temperature sensor is communicatively coupled to theheat dissipating material and instructs the heat dissipating material torespond to temperature changes. For example, when the temperatureexceeds a certain threshold, the temperature sensor instructs the fan toblow harder. In some other embodiments, the temperature sensor iscommunicatively coupled to the master camera module 103 a and instructsthe heat dissipating material based on information from the mastercamera module 103 a. For example, the temperature sensor instructs lesswater to run through tubing where the video recording is using a timelapse sequence and therefore produces less heat than streaming video. Inanother example, where the video is recording in high power states, thetemperature sensor instructs the heat dissipating materials to dissipatemore heat. In yet another example, the temperature sensor instructs theheat dissipating materials to more aggressively dissipate heat when thescene being filmed is poorly illuminated, and image sensor noise is moreapparent.

The camera array 101 may be a modular camera system configured tocapture raw video data including image frames. In the illustratedembodiment shown in FIG. 1, the camera array 101 includes camera modules103 a, 103 b . . . 103 n (also referred to individually and collectivelyherein as camera module 103). While three camera modules 103 a, 103 b,103 n are illustrated in FIG. 1, the camera array 101 may include anynumber of camera modules 103. The camera array 101 may be constructedusing individual cameras with each camera module 103.

The camera array 101 may be constructed using various configurations.For example, the camera modules 103 a, 103 b . . . 103 n in the cameraarray 101 may be configured in different geometries (e.g., a sphere, aline, a cylinder, a cone, a cube, etc.) with the corresponding lenses113 facing in different directions. For example, the camera modules 103are positioned within the camera array 101 in a honeycomb pattern whereeach of the compartments form an aperture where a camera module 103 maybe inserted. In another example, the camera array 101 includes multiplelenses along a horizontal axis and a smaller number of lenses on avertical axis.

In some embodiments, the camera modules 103 a, 103 b . . . 103 n in thecamera array 101 are oriented around a sphere in different directionswith sufficient diameter and field-of-view to capture enough viewdisparity to render stereoscopic images. For example, the camera array101 may comprise HERO3⁺ GoPro® cameras that are distributed around asphere. In another example, the camera array 101 may comprise 32 PointGrey Blackfly Gigabit Ethernet cameras distributed around a 20centimeter diameter sphere. Camera models that are different from theHERO3⁺ or the Point Grey Blackfly camera model may be included in thecamera array 101. For example, in some embodiments the camera array 101comprises a sphere whose exterior surface is covered in one or moreoptical sensors configured to render 3D images or video. The opticalsensors may be communicatively coupled to a controller. The entireexterior surface of the sphere may be covered in optical sensorsconfigured to render 3D images or video.

The camera array 101 has a flexible structure so that a particularcamera module 103 may be removed from the camera array 101 easily. Insome embodiments, the camera modules 103 are rotationally symmetricalsuch that a camera module 103 may be inserted into the housing, removed,rotated 90 degrees, and reinserted into the housing. In this example,the sides of the housing may be equidistant, such as a camera module 103with four equidistant sides. This allows for a landscape orientation ora portrait orientation of the image frames without changing the base. Insome embodiments, the lenses 113 and the camera modules 103 areinterchangeable. New camera modules 103 may also be added to the cameraarray 101. In some embodiments, the camera modules 103 are connected tothe camera array 101 via USB connectors.

In some embodiments, the camera modules 103 in the camera array 101 arepositioned to have a sufficient field-of-view overlap so that allobjects can be seen by more than one view point. In some embodiments,having the camera array 101 configured so that an object may be viewedby more than one camera may be beneficial for correcting exposure orcolor deficiencies in the images captured by the camera array 101. Otherbenefits include disparity/depth calculations, stereoscopicreconstruction, and the potential to perform multi-camera high-dynamicrange (HDR) imaging using an alternating mosaic pattern of under- andover-exposure across the camera array.

In some embodiments, the camera array 101 may also include a microphonearray (not shown in FIG. 1) for capturing sound from all directions. Forexample, the microphone array may include a Core Sound Tetramicsoundfield tetrahedral microphone array following the principles ofambisonics, enabling reconstruction of sound from any arbitrarydirection. In another example, the microphone array includes theEigenmike, which advantageously includes a greater number of microphonesand, as a result, can perform higher-order (i.e. more spatiallyaccurate) ambisonics. The microphone may be mounted to the top of thecamera array 101, be positioned between camera modules 103, or bepositioned within the body of the camera array 101.

In some embodiments, the camera modules 103 in the camera array 101 donot include built-in batteries so that the sizes of the camera modules103 are more compact. The camera modules 103 may obtain power from abattery 125 that is part of the connection hub 123.

In some implementations, the connection hub does not include a battery125 and power is supplied by a different power source. For example, oneor more of a wall outlet, generator, power inventor or any combinationof these elements provides power for a load such as the camera modules103. The power source may be alternating current (“AC”) or directcurrent (“DC”). In some implementations, the power source may be an ACpower supply that is converted to a DC power supply. For example, ACvoltage from a generator or wall outlet is routed through a powerinventor to provide DC voltage for the camera modules 103. The powersource may also include a power step down element to refine the powersupply to a voltage level compatible with one or more loads. For ACvoltage, the power step down element may include one or more step-downtransformers or any other element or combination of elements configuredto step down AC voltage. For DC voltage, the power step down element mayinclude one or more series voltage dropping resistors, a voltage dividernetwork or any other element or combination of elements configured tostep down DC voltage. For example, AC voltage from a generator or walloutlet is routed through a power inventor to provide DC voltage, andthis DC voltage is routed through one or more series voltage droppingresistors to drop the DC voltage to a level appropriate for powering thecamera modules.

In some embodiments, the external cases of the camera modules 103 may bemade of heat-transferring materials such as metal so that the heat inthe camera modules 103 may be dissipated more efficiently than usingother materials. In some embodiments, each camera module 103 may includea heat dissipation element. Examples of heat dissipation elementsinclude, but are not limited to, heat sinks, fans, and heat dissipatingputty.

As illustrated in FIG. 1, the camera module 103 a includes a processor107 a, a memory 109 a, a sensor 111 a, a lens 113 a, an ISP 115 a, aswitch 117, and a status indicator 119 a.

The processor 107 a may include an arithmetic logic unit, amicroprocessor, a general purpose controller or some other processorarray to perform computations and provide electronic display signals toa display device. The processor 107 a may process data signals and mayinclude various computing architectures including a complex instructionset computer (CISC) architecture, a reduced instruction set computer(RISC) architecture, or an architecture implementing a combination ofinstruction sets. Although a single processor is illustrated in thecamera module 103 a, the camera module 103 a may include multipleprocessors.

The memory 109 a includes a non-transitory memory that stores data forproviding the functionality described herein. The memory 109 a may be adynamic random access memory (DRAM) device, a static random accessmemory (SRAM) device, flash memory or some other memory devices. In someembodiments, the memory 109 a may include one or more camera memorycards for storing raw video data (e.g., image frames) captured by thecamera module 103 a. Example memory cards include, but are not limitedto, a secure digital (SD) memory card, a secure digital high capacity(SDHC) memory card, a secure digital extra capacity (SDXC) memory card,and a compact flash (CF) memory card, etc.

The sensor 111 a is any device that senses physical changes. Forexample, the sensor 111 a may be a device that converts an optical imageto electrical signals. For example, the sensor 111 captures light andconverts the captured light into an electrical signal. Example sensors111 a include, but are not limited to, semiconductor charge-coupleddevices (CCD), active pixel sensors in complementarymetal-oxide-semiconductor (CMOS), and N-type metal-oxide-semiconductor(NMOS, Live MOS), etc. Other example sensors 111 a are possible.

In some embodiments, the sensor 111 a may include a depth sensor. Insome embodiments, the depth sensor determines depth using structuredlight, such as a speckle pattern of infrared laser light. For example,the depth sensor may include the PrimeSense depth sensor. In anotherembodiment, the depth sensor determines depth using or time-of-flighttechnology that determines depth based on the time it takes a lightsignal to travel between the camera and a subject. The depth sensor maybe used to determine a depth map.

In one embodiment, the sensor 111 a is a motion detector. For example,the sensor 111 a is a gyroscope that measures orientation of the cameramodule 103 a. In another example, the sensor 111 a is an accelerometerthat is used to measure acceleration of the camera module 103 a. In yetanother example, the sensor 111 a includes location detection, such as aglobal positioning system (GPS), location detection throughtriangulation via a wireless network, etc.

In another embodiment, the sensor 111 a includes a microphone forrecording audio. Even if the camera array 101 has a separate microphone,including a microphone in each camera module 103 may be valuable forgenerating 3D audio to play with the 3D video.

The lens 113 a may be an optical device capable of transmitting andrefracting lights and converging or diverging a beam of light. Forexample, the lens 113 a may be a camera lens.

The image signal processor (ISP) 115 a receives an electrical signalfrom the sensor 111 a and performs demosaicing to determine pixel colorfrom the electrical signals. In some embodiments, the ISP controlsautofocus, exposure, and white balance. In some embodiments, the ISP 115a compresses raw video data for faster transmission. In some otherembodiments, the raw video data is compressed by the aggregation system131. The ISP embeds device identifier of the camera module 103 (e.g. theserial number) in the raw video data. The ISP 115 a may beinterchangeable.

In some embodiments, the ISP 115 a generates a metadata log associatedwith each frame that includes attributes associated with the image frameand any image processing performed on the image file. For example, themetadata file includes what kind of exposure and color processing wasused.

The switch 117 may be a device for controlling an operation of thecamera module 103 a. For example, the switch 117 includes a micro-switchor a button used to control a start operation and a stop operation ofthe camera module 103 a. The switch 117 may be exterior to the cameramodule 103 a and activated by a user. In another embodiment, the switch117 is inside the camera module 103 a.

In some implementations, the switch 117 is controlled wirelessly. Forexample, the switch 117 may be controlled via dedicated short-rangecommunication (“DSRC”), wireless fidelity (“WiFi”), Bluetooth™ or anyother wireless communication protocol. In some implementations, theswitch 117 is a tangible hardware device. In other implementations, theswitch 117 is code and routines stored on a tangible, non-transitorymemory and executed by one or more processors. For example, the switch117 may be code and routines that are stored on a tangible,non-transitory memory and controlled by a processor-based computingdevice via a wired or wireless communicative coupling. The tangible,non-transitory memory that stores the code and routines of the switch117 may or may not be an element of the processor-based computing devicethat controls the switch 117 via a wired or wireless communicativecoupling.

As described below in more detail, the camera module 103 a may be amaster camera module of the camera array 101 and may control operationsof other camera modules 103 in the same camera array 101. For example,an initiation of a start operation in the camera module 103 a may alsocause an initiation of a start operation in other camera modules 103 sothat all the camera modules 103 in the camera array 101 are synchronizedto start recording raw video data at the same time, respectively. Aninitiation of a stop operation in the camera module 103 a may also causean initiation of a stop operation in other camera modules 103 so thatall the camera modules 103 in the camera array 101 may be synchronizedto stop recording video data at the same time, respectively.

As a result, the switch 117 not only controls the operation of thecamera module 103 a, but also simultaneously controls operations ofother camera modules 103 in the camera array 101. For example, a usermay press the switch 117 a first time to start recording video datausing the camera modules 103 in the camera array 101. The user may pressthe switch 117 a second time to stop recording video data using thecamera array 101.

The status indicator 119 a may be a device configured to indicate astatus of the camera module 103 a. A status of the camera module 103 amay be one of a normal status and a faulty status. For example, thestatus indicator 119 a indicates a normal status of the camera module103 a if the camera module 103 a functions properly. However, the statusindicator 119 a may indicate a faulty status of the camera module 103 aif a fault occurs at the camera module 103 a. For example, if thestorage space in the memory 109 a is full, indicating no more video datacaptured by the camera module 103 a may be stored in the memory 109 a,the status indicator 119 a may indicate a faulty status showing that afault occurs at the camera module 103 a. The status indicator may alsoindicate other statuses, for example indicating the camera is booting upor shutting down.

In some embodiments, the status indicator 119 a may include alight-emitting diode (LED). The LED may emit light if the statusindicator 119 a indicates a normal status. Alternatively, the LED maynot emit light if the status indicator 119 a indicates a faulty status.In some embodiments, the LED may emit multiple colors of light or emitlight at different rates in order to indicate different statuses.

The camera module 103 b includes a processor 107 b, a memory 109 b, asensor 111 b, a lens 113 b, and a status indicator 119 b. The cameramodule 103 n includes a processor 107 n, a memory 109 n, a sensor 111 n,a lens 113 n, and a status indicator 119 n. The processors 107 b and 107n are similar to the processor 107 a, the memories 109 b and 109 n aresimilar to the memory 109 a, the sensors 111 b and 111 n are similar tothe sensor 111 a, the lenses 113 b and 113 n are similar to the lens 113a, and the status indicators 119 b and 119 n are similar to the statusindicator 119 a. The description will not be repeated herein.

The camera modules 103 a, 103 b . . . 103 n in the camera array 101 mayform a daisy chain in which the camera modules 103 a, 103 b . . . 103 nare connected in sequence. For example, camera module 103 a is connectedto camera module 103 b, which is connected to camera module 103 n, whichcompletes the ring by being connected to camera module 103 a. Asdescribed below in more detail, the camera modules 103 a, 103 b . . .103 n in the camera array 101 are synchronized through the daisy chain.One camera module 103 (e.g., the first camera module 103 a) in the daisychain may be configured as a master camera module that allows the cameraarray 101 to act as one entity by controlling clock signals for othercamera modules in the camera array 101. The clock signals may be used tosynchronize operations of the camera modules 103 in the camera array101. The master camera module includes a switch for controllingoperations of the master camera module as well as operations of othercamera modules 103 in the same camera array 101. For example, asillustrated in FIG. 1, the camera module 103 a is a master camera moduleincluding the switch 117 for controlling operations of the cameramodules in the camera array 101. In another embodiment, the cameramodules perform bidirectional communication.

The master camera module 103 a is connected to the camera module 103 bvia a signal line 114 for controlling a start operation or a stopoperation of the camera module 103 b. For example, when the cameramodule 103 a starts to record video data, a clock signal may betransmitted to the camera module 103 b via the signal line 114, causingthe camera module 103 a and the camera module 103 b to start recordingvideo data at the same time, respectively. When the camera module 103 astops recording video data, no clock signal is transmitted to the cameramodule 103 b, causing the camera module 103 a and the camera module 103b to stop recording video data at the same time, respectively.

In one embodiment, the master camera module 103 a communicates withcamera module 103 b directly via signal line 114. In another embodiment,the master camera module 103 a communicates with a connection hub 123that is connected to a client device 127, such as a laptop, whichcommunicates the instructions back through the connection hub 123 to thecamera module 103 b.

The camera module 103 b is connected to a next camera module 103 in thedaisy chain via a signal line 116 for supplying a clock signal from thecamera module 103 b to the next camera module 103, so that operations ofthe next camera module 103 is synchronized with the camera module 103 bby the clock signal. The camera module 103 n is connected to a precedingcamera module 103 in the daisy chain via a signal line 118 for obtaininga clock signal from the preceding camera module 103, so that operationof the camera module 103 n is synchronized with the preceding cameramodule 103 by the clock signal.

As a result, operations (e.g., the start operations, the stopoperations) of the camera modules 103 a, 103 b . . . 103 n in the cameraarray 101 are synchronized, and the image frames in the respective videodata captured by the camera modules 103 a, 103 b . . . 103 n are alsosynchronized. An initiation of a start operation (or a stop operation)in the master camera module 103 a may simultaneously cause an initiationof a start operation (or a stop operation) of all the other cameramodules 103 in the camera array 101. Thus, the daisy chain formed by thecamera modules 103 a, 103 b . . . 103 b may be configured to synchronizestart operations and stop operations of the camera modules 103 a, 103 b. . . 103 n, causing image frames captured by the camera modules 103 a,103 b . . . 103 n to be synchronized. The clock signals in the cameramodules 103 a, 103 b . . . 103 n may have a frequency of 60 Hz so thatthe camera modules 103 a, 103 b . . . 103 n in the camera array 101capture 60 image frames per second, respectively.

In some embodiments, an overall status indicator 121 may be connected toone of the camera modules 103 to indicate a status of at least one ofthe camera modules 103 or an overall status of the camera array 101.This may also be referred to as heartbeat monitoring. For example, theoverall status indicator 121 may be connected to the camera module 103 nvia a signal line 120. A clock signal may be supplied to the overallstatus indicator 121 from the camera module 103 n. An overall status ofthe camera array 101 may be one of a normal status and a faulty status.For example, if all the camera modules 103 in the camera array 101 arefault-free, the overall status indicator 121 indicates a normal statusfor the camera array 101.

However, if a fault occurs to at least one of the camera modules 103 inthe camera array 101, the overall status indicator 121 indicates afaulty status for the camera array 101. For example, assume that thecamera module 103 b malfunctioned because it overheated or the memorycard was full. The status indicator 119 b in the camera module 103 b mayindicate a faulty status for the camera module 103 b, and the overallstatus indicator 121 may indicate an overall faulty status for thecamera array 101. By using the combination of the status indicators 119and the overall status indicator 121, the overall status of the cameraarray 101 and the individual status of the camera modules 103 may bemonitored at any time. In some embodiments, the overall status indicator121 and the individual status indicators 119 are part of a singledisplay.

In some embodiments, the overall status indicator 121 performsenumeration. For example, the overall status indicator 121 counts thenumber of camera modules 103 that are available in the camera array 101.

The camera modules 103 may be coupled to the connection hub 123. Forexample, the camera module 103 a is communicatively coupled to theconnection hub 123 via a signal line 102. The camera module 103 b iscommunicatively coupled to the connection hub 123 via a signal line 104.The camera module 103 n is communicatively coupled to the connection hub123 via a signal line 106. Each of the signal lines 102, 104, and 106may represent a wired connection (e.g., a USB cable, an Ethernet cable,a HDMI cable, a RCA cable, Firewire, CameraLink, Thunderbolt or custombus to transmit image data) or a wireless connection (e.g., wirelessfidelity (Wi-Fi), Bluetooth, etc.).

The connection hub 123 may receive and aggregate streams of raw videodata describing image frames from the respective camera modules 103. Theraw video data may be compressed. In some embodiments, the connectionhub 123 includes a memory card or other non-transitory memory where theraw video data is stored. The connection hub 123 may then transfer theraw video data to the client device 127. In some examples, theconnection hub 123 may be a USB hub. In some embodiments, the raw videodata is streamed through the connection hub to the client device 127. Inother examples, a user may manually remove the memory card from the hub123 and extract the raw video data from the memory card to the clientdevice 127.

In some embodiments, the connection hub 123 includes one or morebatteries 125 for supplying power to the camera modules 103 in thecamera array 101. Alternatively or additionally, one or more batteries125 may be coupled to the connection hub 123 for providing power to thecamera modules 103.

The client device 127 may be a processor-based computing device. Forexample, the client device 127 may be a personal computer, laptop,tablet computing device, smartphone, set top box, network-enabledtelevision or any other processor based computing device. In theillustrated embodiment, the client device 127 is coupled to theconnection hub 123 via a signal line 108. In some embodiments, theclient device 127 includes network functionality and is communicativelycoupled to the network 105 via a signal line 110. The client device 127may be configured to transmit data to the server 129 or receive datafrom the server 129 via the network 105. In some embodiments, the clientdevice 127 includes an aggregation system 131 for aggregating raw videodata captured by the camera modules 103 to form 3D video data.Alternatively or additionally, the aggregation system 131 may beoperable on the server 129.

The aggregation system 131 may include a set of code and routines that,when executed by a processor, aggregate raw video data (e.g., imageframes) received from the camera modules 103 to form 3D video data. Theaggregation system 131 may be configured to process the raw video datato generate a compressed stream of 3D video data. In some embodiments,the compressed stream of 3D video may include one or more packets. The3D video data may be configured for playback on a VR display or anothersuitable display. The 3D video data may describe a stereoscopic panoramaof a scene.

As described below with reference to FIG. 2, the aggregation system 131includes a video and audio module 208. The video and audio module 208may generate the 3D video data based on raw video data received from thecamera modules 103 in the camera array 101. The camera array 101 mayinclude multiple camera modules 103 to capture video data or images of ascene from multiple directions or views, roughly covering an entire 360degree sphere in some embodiments. The various views provide enough viewdisparity for the video and audio module 208 to generate and renderstereoscopic images. In these and other embodiments, the video and audiomodule 208 may include a stitching algorithm for stitching imagestogether to form a 3D panorama described by the 3D video data. Forexample, the video and audio module 208 may stitch the video frommultiple cameras into two large-format, panoramic video streams for leftand right eye viewing.

In some embodiments, the aggregation system 131 includes code androutines configured to filter the video data to improve its quality. Theaggregation system 131 may also include code and routines tointentionally change the appearance of the video with a video effect.The aggregation system 131 is described in more detail below withreference to FIG. 2. In some embodiments, the aggregation system 131includes algorithms for processing sound from the microphone associatedwith the camera array 101 and/or the microphones associated with thecamera modules 103 to generate 3D audio data.

The server 129 may be a hardware server that includes a processor, amemory, and network communication capabilities. In the illustratedimplementation, the server 129 is coupled to the network 105 via asignal line 112. The server 129 sends and receives data to and from oneor more of the other entities of system 100 via the network 105. Forexample, the server 129 receives 3D video data (or compressed 3D videodata) from the client device 127 and stores the 3D video data in astorage associated with the server 129. In some embodiments, the server129 includes the aggregation system 131 for receiving raw video datafrom the client device 127 and aggregating the raw video data to create3D video data.

The network 105 may be a conventional type, wired or wireless, and mayhave numerous different configurations including a star configuration,token ring configuration or other configurations. Furthermore, thenetwork 105 may include a local area network (LAN), a wide area network(WAN) (e.g., the Internet), or other interconnected data paths acrosswhich multiple devices may communicate. In some embodiments, the network105 may be a peer-to-peer network. The network 105 may also be coupledto or include portions of a telecommunications network for sending datain a variety of different communication protocols. In some embodiments,the network 105 may include Bluetooth communication networks or acellular communications network for sending and receiving data includingvia short messaging service (SMS), multimedia messaging service (MMS),hypertext transfer protocol (HTTP), direct data connection, WAP, email,etc.

In some embodiments, the system 100 may additionally include a viewingsystem (not shown). The viewing system decodes and renders the video ona VR display, adjusting the output as a user changes head orientation.The viewing system may include or use a computer to decode and renderthe video onto the Oculus Rift VR display or other suitable VR display.

Referring now to FIG. 2, an example of the aggregation system 131 isillustrated in accordance with at least one embodiment described herein.FIG. 2 is a block diagram of a computing device 200 that includes theaggregation system 131, a memory 237, a processor 235, a communicationunit 245, and a storage device 241. The components of the computingdevice 200 are communicatively coupled by a bus 220. In someembodiments, the computing device 200 may be one of a client device 127,a server 129, or another computing device.

The processor 235 may include an arithmetic logic unit, amicroprocessor, a general purpose controller or some other processorarray to perform computations and provide electronic display signals toa display device. The processor 235 is coupled to the bus 220 forcommunication with the other components via a signal line 238. Theprocessor 235 may process data signals and may include various computingarchitectures including a complex instruction set computer (CISC)architecture, a reduced instruction set computer (RISC) architecture, oran architecture implementing a combination of instruction sets. AlthoughFIG. 2 includes a single processor 235, multiple processors may beincluded. Other processors, operating systems, sensors, displays andphysical configurations may be possible.

The memory 237 includes a non-transitory memory that stores data forproviding the functionality described herein. The memory 237 may be adynamic random access memory (DRAM) device, a static random accessmemory (SRAM) device, flash memory or some other memory devices. In someembodiments, the memory 237 also includes a non-volatile memory orsimilar permanent storage device and media including a hard disk drive,a floppy disk drive, a CD-ROM device, a DVD-ROM device, a DVD-RAMdevice, a DVD-RW device, a flash memory device, or some other massstorage device for storing information on a more permanent basis. Thememory 237 may store the code, routines and data necessary for theaggregation system 131 to provide its functionality. The memory 237 iscoupled to the bus 220 via a signal line 244.

The communication unit 245 may transmit data to any of the entities thatcomprise the system 100 depicted in FIG. 1. Similarly, the communicationunit 245 may receive data from any of the entities that comprise thesystem 100 depicted in FIG. 1. The communication unit 245 is coupled tothe bus 220 via a signal line 246. In some embodiments, thecommunication unit 245 includes a port for direct physical connection toa network, such as a network 105 of FIG. 1 or to another communicationchannel. For example, the communication unit 245 may include a port suchas a USB, SD, RJ45 or similar port for wired communication with a clientdevice. In some embodiments, the communication unit 245 includes awireless transceiver for exchanging data with the client device or othercommunication channels using one or more wireless communication methods,including IEEE 802.11, IEEE 802.16, BLUETOOTH® or another suitablewireless communication method.

In some embodiments, the communication unit 245 includes a cellularcommunications transceiver for sending and receiving data over acellular communications network including via short messaging service(SMS), multimedia messaging service (MMS), hypertext transfer protocol(HTTP), direct data connection, WAP, e-mail or another suitable type ofelectronic communication. In some embodiments, the communication unit245 includes a wired port and a wireless transceiver. The communicationunit 245 also provides other conventional connections to a network fordistribution of data using standard network protocols including TCP/IP,HTTP, HTTPS and SMTP, etc.

The storage device 241 can be a non-transitory storage medium thatstores data for providing the functionality described herein. Thestorage device 241 may be a dynamic random access memory (DRAM) device,a static random access memory (SRAM) device, flash memory, or some othermemory devices. In some embodiments, the storage device 241 alsoincludes a non-volatile memory or similar permanent storage device andmedia including a hard disk drive, a floppy disk drive, a CD-ROM device,a DVD-ROM device, a DVD-RAM device, a DVD-RW device, a flash memorydevice, or some other mass storage device for storing information on amore permanent basis. The storage device 241 is communicatively coupledto the bus 220 via a signal line 242. In some embodiments, the storagedevice 241 may store data that was temporarily stored in the memory 237.

In the implementation illustrated in FIG. 2, the aggregation system 131includes a communication module 202, a calibration module 204, a faultdetection module 206, a video and audio module 208, a correction module210, an access module 212, and a user interface module 214. Thesecomponents of the aggregation system 131 are communicatively coupled toeach other via the bus 220.

The communication module 202 can be software including routines forhandling communications between the aggregation system 131 and othercomponents of the computing device 200. In some embodiments, thecommunication module 202 can be a set of instructions executable by theprocessor 235 to provide the functionality described below for handlingcommunications between the aggregation system 131 and other componentsof the computing device 200. In some embodiments, the communicationmodule 202 can be stored in the memory 237 of the computing device 200and can be accessible and executable by the processor 235. Thecommunication module 202 may be adapted for cooperation andcommunication with the processor 235 and other components of thecomputing device 200 via a signal line 222.

The communication module 202 sends and receives data, via thecommunication unit 245, to and from one or more of the connection hub123, the client device 127, and the server 129 depending upon where theaggregation system 131 may be stored. For example, the communicationmodule 202 receives, via the communication unit 245, raw video data fromthe connection hub 123 and sends the raw video data to the video andaudio module 208. In another example, the communication module 202receives instructions from the video and audio module 208 for startingand stopping the camera modules 103 that the communication module 202transmits to the switch 117.

In some embodiments, the communication module 202 receives data fromcomponents of the aggregation system 131 and stores the data in one ormore of the storage device 241 and the memory 237. In some embodiments,the communication module 202 retrieves data from the storage device 241or the memory 237 and sends the data to one or more components of theaggregation system 131. In some embodiments, the communication module202 may handle communications between components of the aggregationsystem 131. For example, the communication module 202 receives 3D videodata after color correction from the correction module 210 and sends the3D video data to the access module 212.

The calibration module 204 can be software including routines forcalibrating the camera array 101. In some embodiments, the calibrationmodule 204 can be a set of instructions executable by the processor 235to provide the functionality described below for calibrating the cameraarray 101. In some embodiments, the calibration module 204 can be storedin the memory 237 of the computing device 200 and can be accessible andexecutable by the processor 235. The calibration module 204 may beadapted for cooperation and communication with the processor 235 andother components of the computing device 200 via a signal line 224.

In some embodiments, the calibration module 204 may be configured toidentify a device identifier for each camera module 103 in the cameraarray 101 and perform geometric calibration to identify a relativeposition of each camera module 103 in the camera array 101. The deviceidentifier may include a device or lens serial number that is part of avideo file. The calibration module 204 performs geometric calibration tocorrect for slight variations due to mechanical tolerances in productionand during mounting. For example, the camera modules 103 may includeslight variations in camera orientation due to human error occurringwhen installing or manufacturing the camera modules 115 in the cameraarray 101. In some embodiments, the calibration module 204 performsgeometric calibration by receiving information about recorded calibratedtarget images using a special rig and adjusts values accordingly. Insome other embodiments, the calibration module 204 performs geometriccalibration after the video is recorded using the video content.

In some embodiments, the calibration module 204 may receive inputs aboutexternal markers (e.g. the coordinates of external markers) andcalibrate the camera modules 103 based on the inputs. The calibrationmodule 204 may analyze the images captured by each camera module 103,determine the errors present in the images and determine calibrationfactors used to calibrate the corresponding camera module 103. Thecalibration factors may include data used to automatically modify theimages captured by the corresponding camera module 115 so that theimages include fewer errors. In some embodiments, the calibrationfactors are applied to the images by the calibration module 204 so thatthe images include no errors that are detectable during user consumptionof the 3D video content. For example, the calibration module 204 maydetect the deficiencies in the images caused by the calibration errors.The calibration module 204 may determine one or more pixels associatedwith the deficiencies. The calibration module 204 may determine thepixel values associated with these pixels and then modify the pixelvalues using the calibration factors so that the deficiencies arecorrected.

In some embodiments, the calibration module 204 receives a configurationfiles with information about camera lens distortion that is determinedby an external calibration box.

In some embodiments, the calibration factors may also be provided to anadministrator of the camera array 101 who uses the calibration factorsto manually correct the calibration deficiencies of the camera modules103 in the camera array 101. In some other embodiments, position androtational offset are saved for each camera module 103 in a storagefile.

The fault detection module 206 can be software including routines fordetecting a faulty camera module 103 in the camera array 101. In someembodiments, the fault detection module 206 can be a set of instructionsexecutable by the processor 235 to provide the functionality describedbelow for detecting a faulty camera module 103 in the camera array 101.In some embodiments, the fault detection module 206 can be stored in thememory 237 of the computing device 200 and can be accessible andexecutable by the processor 235. The fault detection module 206 may beadapted for cooperation and communication with the processor 235 andother components of the computing device 200 via a signal line 226.

The fault detection module 206 monitors an overall status of the cameraarray 101 using the overall status indicator 121. The overall statusindicator 121 may indicate the overall status of the camera array 101 asa normal status if all the camera modules 103 function properly.Alternatively, the overall status indicator 121 may indicate the overallstatus of the camera array 101 as a faulty status if a fault occurs toat least one camera module 103. If the overall status indicates a faulthas occurred, the fault detection module 206 determines respectiveindividual statuses of the camera modules 103 using the respectivestatus indicators 119. The fault detection module 206 determines astatus indicator 119 associated with a faulty status. The faultdetection module 206 determines a camera module 103 associated with thestatus indicator 119 that has the faulty status as a faulty cameramodule. For example, if the memory 109 b in the camera module 103 b isfull, both the overall status indicator 121 and the status indicator 119b may indicate a faulty status. Thus, the fault detection module 206determines the camera module 103 b as a faulty camera module. If thefault detection module 206 determines an absence of faults, the videoand audio module 208 may instruct the camera modules 103 to beginrecording.

The video and audio module 208 can be software including routines forgenerating 3D video, synthesizing audio data, and generating a stream of3D video and audio data. In some embodiments, the video and audio module208 can be a set of instructions executable by the processor 235 toprovide the functionality described below for generating a stream of 3Dvideo and audio data. In some embodiments, the video and audio module208 can be stored in the memory 237 of the computing device 200 and canbe accessible and executable by the processor 235. The video and audiomodule 208 may be adapted for cooperation and communication with theprocessor 235 and other components of the computing device 200 via asignal line 280.

In some embodiments, the video and audio module 208 receives anindication from the fault detection module 206 of an absence of faultsin the camera array 101. The video and audio module 208 then instructsthe master camera module to start recording. The video and audio module208 receives raw video data describing image frames from the cameramodules 103. At some point, the video and audio module 208 initiates astop operation in the master camera module. For example, the video andaudio module 208 initiates the stop operation in response to a manualinput from a user, an expiration of time according to the clock, etc.

The video and audio module 208 may generate the 3D video data based onthe raw video data received from the camera modules 103. For example,the video and audio module 208 may stitch the image frames togetherbased on a frame sync signal in the video and by using audio tracks froma mounted microphone and/or microphones in each camera module 103 totime-align audio tracks from the microphones. In some embodiments, thestitching is also based on the geometric calibration. The video andaudio module 208 may include a stitching algorithm for stitching imagescaptured by the camera modules 103 together to form a 3D panoramadescribed by the 3D video data. For example, the video module 208 maystitch the raw video data from multiple cameras into two large-format,panoramic video streams for left and right eye viewing.

The video and audio module 208 receives audio from multiple microphonesand synthesizes audio based on timing associated with the audio tracksto generate 3D audio data that changes based on the user's headposition. In some embodiments, the video and audio module 208 mixesaudio from a 3D ambisonic microphone with spot microphones to createfully spatialized sound effects. The video and audio module 208generates binaural audio. In some embodiments, the video and audiomodule 208 uses a head-related transfer function to generate real-timebinaural audio. In some embodiments, the audio is compatible with Dolby®Atmos™. In some embodiments, the video and audio module 208 generates astream of 3D and audio data for displaying panoramic images.

In some embodiments, the video and audio module 208 may construct astereoscopic panorama using images from multiple views from differentdirections. For example, the camera array 101 includes multiple cameramodules 103 with multiple lenses 113 arranged around all three hundredand sixty degrees of a sphere. The lenses 113 each point in differentdirections. Because the camera modules 103 are arranged around threehundred and sixty degrees of a sphere and taking images of the scenefrom multiple viewpoints, the video data includes multiple views fromdifferent directions. The resulting panoramic image is a sphericalrepresentation of the scene. Each pixel in the panorama may represent aview in a slightly different direction relative to neighboring pixels.

In some embodiments, the video and audio module 208 generates thestereoscopic panorama based on the location of the camera modules 103.For example, where the camera modules 103 are daisy chained to eachother and the master camera module instructs the other camera modules103 to start recording, the video and audio module 208 uses thetimestamp associated with the recordings to construct the stereoscopicpanorama.

The correction module 210 can be software including routines fordetecting and correction exposure or color deficiencies in the imagescaptured by the camera modules 103. In some embodiments, the correctionmodule 210 can be a set of instructions executable by the processor 235to provide the functionality described below for detecting andcorrection exposure or color deficiencies in the images captured by thecamera modules 103. In some embodiments, the correction module 210 canbe stored in the memory 237 of the computing device 200 and can beaccessible and executable by the processor 235. The correction module210 may be adapted for cooperation and communication with the processor235 and other components of the computing device 200 via a signal line228.

For example, because the lenses 113 of the camera modules 103 arepointing in different directions, the lighting and color conditions mayvary dramatically. If all the lenses 113 of the camera modules 103 areconfigured identically some images may be under or over exposed. Thecorrection module 210 may detect the exposure or color deficiencies. Thecorrection module 210 may determine one or more pixels associated withthe exposure or color deficiencies. The correction module 210 maydetermine the pixel values associated with these pixels and then modifythe pixel values so that the exposure or color deficiencies are notdetectable by a user during consumption of the 3D video content using aclient device. In some embodiments, the camera modules 103 haveoverlapping fields of view and, exposure or color deficiencies in theimages captured by the camera modules 103 can be corrected orauto-corrected using this overlap. In other embodiments, exposure orcolor deficiencies in the images captured by the camera modules 103 canbe corrected using calibration based on color charts of known values.

The access module 212 can be software including routines for providingaccess to 3D video data. In some embodiments, the access module 212 canbe a set of instructions executable by the processor 235 to provide thefunctionality described below for providing access to 3D video data. Insome embodiments, the access module 212 can be stored in the memory 237of the computing device 200 and can be accessible and executable by theprocessor 235. The access module 212 may be adapted for cooperation andcommunication with the processor 235 and other components of thecomputing device 200 via a signal line 230.

In some embodiments, the access module 212 stores the 3D video datareceived from the video and audio module 208 or the correction module210 in the storage device 241. The access module 212 allows a user toaccess the 3D video data in response to receiving an access request fromthe user. In some embodiments, the access module 212 sends the 3D videodata to a viewing system configured for viewing the 3D data, allowing auser to view the 3D video data from the viewing system. In some otherembodiments, the access module 212 sends the 3D video data to the server129, allowing users to access the 3D video data from the server 129 viathe network 105.

The user interface module 214 can be software including routines forgenerating graphical data for providing user interfaces. In someimplementations, the user interface module 214 can be a set ofinstructions executable by the processor 235 to provide thefunctionality described below for generating graphical data forproviding user interfaces. The user interface module 214 may be adaptedfor cooperation and communication with the processor 235 and othercomponents of the computing device 200 via a signal line 232.

In some embodiments, the user interface module 214 generates a userinterface for the user of the client device 127 to specify when to starta recording operation and when to stop a recording operation. In someembodiments, the user interface includes information about memorymanagement, white balance, color temperature, gain, ISO, filters, clock,file name, wireless fidelity (WiFi), temperature, power consumption,serial numbers, a preview of the video stream, and the video beingrecorded by one or more of the camera modules 103. The user may be ableto modify some of the settings, such as the ISO, color temperature,white balance, filters, clock, file name, etc. In some otherembodiments, the user interface module 214 generates information aboutthe overall status indicator 121 and the individual status indicators119. For example, the user interface module 214 generates a notificationfor the user about which of the camera modules 103 is experiencing aproblem. In some embodiments, the notification includes specificinformation about the problem, such as an overheated camera, full diskspace, etc.

Referring now to FIG. 3A, an example system 300 comprising a cameraarray 101 and connection hub 123 are illustrated. In this example, thecamera array 101 comprises a microphone array 301 and a spherical bodyfor the camera modules 302. The camera modules 302 are illustrated ashaving a disc containing the lens 303 that couples to the housing 304.The housing includes several slits 305 for venting heat from inside thecamera array 101. The camera array 101 is coupled to a connection hub306 that includes multiple cables for transmitting the raw video data toa client device 127 (not shown).

FIG. 3B illustrates an example housing 350 that is designed to look likea spherical honeycomb. The housing 350 includes apertures for the cameramodules 103. In this example, the aperture includes disc space for thelens and rectangular housing with substantially equidistant sides forthe body of the camera modules 103. The rectangular space allows cameramodules 103 to be inserted into the rectangular space, removed, rotated90 degrees, and reinserted into the rectangular space. In someembodiments, the camera modules 103 are physically mounted in thehousing with screws to avoid extreme positional changes (e.g. camera riggeometry changes) over time.

FIG. 3C illustrates an example microphone array 370. In this example themicrophone array 370 includes four soundfield microphones 371 positionedin four different directions to capture audio for generating 3D audio.The positioning of the microphones allows for recording andreconstructing sonic directionality so that the audio can be adjusted inresponse to a user moving his or her head during the 3D experience. Themicrophone unit 370 also includes a mount 372 for mounting themicrophone unit 370 to the camera array 101. The mount design isadvantageous over a boom microphone, which might interfere with thefield of view of the lenses.

Referring now to FIG. 4, an example of a method 400 for providing videodata using the camera array 101 is described, in accordance with atleast one embodiment described herein. The method 400 is described withrespect to FIGS. 1 and 2. Although illustrated as discrete blocks,various blocks may be divided into additional blocks, combined intofewer blocks, or eliminated, depending on the desired implementation.

One skilled in the art will appreciate that, for this and otherprocesses and methods disclosed herein, the functions performed in theprocesses and methods may be implemented in differing order.Furthermore, the outlined steps and operations are only provided asexamples, and some of the steps and operations may be optional, combinedinto fewer steps and operations, or expanded into additional steps andoperations without detracting from the essence of the disclosedembodiments.

In some embodiments, the method 400 is performed by an aggregationsystem 131 comprising a calibration module 204, a fault detection module206 and a video and audio module 208. The calibration module 204identifies 402 a device identifier and a position of each camera module103 in a camera array 101, the camera modules 103 including a mastercamera. The fault detection module 206 confirms 404 an absence of faultsin the camera modules 103. In some embodiments, the fault detectionmodule 206 uses a threshold number of faults to determine whether toproceed. For example, the fault detection module 206 will proceed if twoor fewer camera modules 103 are malfunctioning unless the camera modules103 are next to each other. The fault detection module 206 transmits aconfirmation to the video and audio module 208 that there are an absenceof faults.

The video and audio module 208 initiates 406 a start operation in themaster camera, the master camera instructing the other camera modules103 to start recording. For example, the master camera includes a switch117 that instructs the other camera modules 103 in the daisy chainconfiguration to begin recording. The video and audio module 208 mayalso provide a timestamp for the video data and instruct the cameramodules 103 to use a particular filename.

The video and audio module 208 receives 408 video data comprising imageframes from the camera modules 103. The video and audio module 208stitches 410 the image frames together based on the video data,generates 412 3D video, synthesizes 414 audio data, and generates 416 astream of the 3D video and the audio data for displaying panoramicimages. In some embodiments, the video and audio module 208 stitches theimage frames together from each of the camera modules 103 based on atimestamp associated with each of the frames.

One skilled in the art will appreciate that, for this and otherprocesses and methods disclosed herein, the functions performed in theprocesses and methods may be implemented in differing order.Furthermore, the outlined steps and operations are only provided asexamples, and some of the steps and operations may be optional, combinedinto fewer steps and operations, or expanded into additional steps andoperations without detracting from the essence of the disclosedembodiments.

FIG. 4 illustrates an example method 400 for detecting a faulty cameramodule in accordance with at least one embodiment described herein. Themethod 400 is described with respect to FIGS. 1 and 2. Althoughillustrated as discrete blocks, various blocks may be divided intoadditional blocks, combined into fewer blocks, or eliminated, dependingon the desired implementation.

In some embodiments, the method 400 is performed by an aggregationsystem 131 comprising a calibration module 204, a fault detection module206 and a video and audio module 208. The calibration module 204identifies 502 a device identifier for each camera module 103 in acamera array 101, the camera modules 103 including a master camera. Thefault detection module 206 determines 504 an absence of faults in thecamera modules 103. The fault detection module 206 transmits thedetermination to the video and audio module 208.

The video and audio module 208 initiates 506 a start operation in themaster camera, the master camera instructing the camera modules 103 tostart recording. The video and audio module 208 receives 508 video datadescribing image frames from the camera modules. The video and audiomodule 208 initiates 510 a stop operation in the master camera, themaster camera instructing the camera modules to stop recording.

The video and audio module 208 then stitches 512 the image framestogether based on a relative position of each camera module 103. In someembodiments, the relative position is determined from an independentlyperformed geometric calibration. In other embodiments, the calibrationmodule 204 performs geometric calibration after the video is recordedusing the video content. For example, the video and audio module 208uses the relative position of each camera module 103 in combination witha stitching algorithm to perform the stitching. The video and audiomodule 208 generates 514 3D video data. The video and audio module 208synthesizes 516 audio data. For example, the video and audio module 208uses the audio from four different microphones to create audio that isadjusted depending on the angle of the user's head during the virtualreality experience. The video and audio module 208 generates 518 astream of 3D video and audio data for displaying panoramic images.

The embodiments described herein may include the use of a specialpurpose or general-purpose computer including various computer hardwareor software modules, as discussed in greater detail below.

Embodiments described herein may be implemented using computer-readablemedia for carrying or having computer-executable instructions or datastructures stored thereon. Such computer-readable media may be anyavailable media that may be accessed by a general purpose or specialpurpose computer. By way of example, and not limitation, suchcomputer-readable media may include tangible computer-readable storagemedia including Random Access Memory (RAM), Read-Only Memory (ROM),Electrically Erasable Programmable Read-Only Memory (EEPROM), CompactDisc Read-Only Memory (CD-ROM) or other optical disk storage, magneticdisk storage or other magnetic storage devices, flash memory devices(e.g., solid state memory devices), or any other storage medium whichmay be used to carry or store desired program code in the form ofcomputer-executable instructions or data structures and which may beaccessed by a general purpose or special purpose computer. Combinationsof the above may also be included within the scope of computer-readablemedia.

Computer-executable instructions comprise, for example, instructions anddata which cause a general purpose computer, special purpose computer,or special purpose processing device (e.g., one or more processors) toperform a certain function or group of functions. Although the subjectmatter has been described in language specific to structural featuresand/or methodological acts, it is to be understood that the subjectmatter defined in the appended claims is not necessarily limited to thespecific features or acts described above. Rather, the specific featuresand acts described above are disclosed as example forms of implementingthe claims.

As used herein, the terms “module” or “component” may refer to specifichardware embodiments configured to perform the operations of the moduleor component and/or software objects or software routines that may bestored on and/or executed by general purpose hardware (e.g.,computer-readable media, processing devices, etc.) of the computingsystem. In some embodiments, the different components, modules, engines,and services described herein may be implemented as objects or processesthat execute on the computing system (e.g., as separate threads). Whilesome of the system and methods described herein are generally describedas being implemented in software (stored on and/or executed by generalpurpose hardware), specific hardware embodiments or a combination ofsoftware and specific hardware embodiments are also possible andcontemplated. In this description, a “computing entity” may be anycomputing system as previously defined herein, or any module orcombination of modulates running on a computing system. As described inU.S. Provisional Patent Application No. 62/008,215, which application isincorporated by reference herein as described above, embodiments of oneor more of the modules may use the concept of a robust affine model. Arobust affine model may be a set of linear weights to transform one setof color values into another. Affine color models may be expressed intheir most general form as a 3×4 matrix that transforms the originalpixel color values into corrected color values. It may be done in anycolor space (RGB, YUV, etc.). In some examples, the robust affine modelmay assume that data contains an affine trend plus outliers and thereforseek to downweight the outliers during the fit.

All examples and conditional language recited herein are intended forpedagogical objects to aid the reader in understanding the invention andthe concepts contributed by the inventor to furthering the art, and areto be construed as being without limitation to such specifically recitedexamples and conditions. Although embodiments of the inventions havebeen described in detail, it may be understood that the various changes,substitutions, and alterations could be made hereto without departingfrom the spirit and scope of the invention.

What is claimed is:
 1. A system comprising: a camera array comprising aset of camera modules that are each substantially identical relative toone another and communicatively coupled to one another via a daisychain; and an aggregation system stored on a memory and executed by oneor more processors, the aggregation system operable to: receive videodata describing image frames from the camera array captured by the setof camera modules; stitch the image frames together based on a framesync signal and a relative position of each camera module of the set ofcamera modules to generate three-dimensional video data; determine thatcolor deficiencies occurred in the stitched image frames based on atleast some of the camera modules facing different directions; determinecorrected pixel values for original pixel values in the stitched imageframes that include the color deficiencies; replace the original pixelvalues with the corrected pixel values; and generate three-dimensionalcontent that includes the corrected pixel values in a set of pixelvalues.
 2. The system of claim 1, wherein determining the correctedpixel values is based on a robust affine model that transforms one setof color values into another.
 3. The system of claim 2, whereindetermining the corrected pixel values based on the robust affine modelincludes applying a downweight to outlier pixel pairs that do notcorrespond to a same special location.
 4. The system of claim 1, whereinthe aggregation system is further operable to increase saturation of theset of pixel values.
 5. The system of claim 1, wherein each of the setof camera modules is positioned to have at least one overlapping fieldof view with another camera module of the set of camera modules.
 6. Thesystem of claim 5, wherein determining the corrected pixel valuesincludes identifying that the corrected pixel values are forcorresponding pixels in the at least one overlapping field of view thatdo not include the color deficiencies.
 7. The system of claim 5, whereinthe camera array generates a stereoscopic image based at least in parton the at least one overlapping field of view.
 8. A method comprising:identifying, at a runtime, a camera array comprising a set of cameramodules that are each substantially identical relative to one anotherand communicatively coupled to one another via a daisy chain; receivingvideo data describing image frames from the camera array captured by theset of camera modules; stitching the image frames together based on aframe sync signal and a relative position of each camera module of theset of camera modules to generate three-dimensional video data;determining that color deficiencies occurred in the stitched imageframes based on at least some of the camera modules facing differentdirections; determining corrected pixel values for original pixel valuesin the stitched image frames that include the color deficiencies;replacing the original pixel values with the corrected pixel values; andgenerating three-dimensional content that includes the corrected pixelvalues in a set of pixel values.
 9. The method of claim 8, whereindetermining the corrected pixel values is based on a robust affine modelthat transforms one set of color values into another.
 10. The method ofclaim 9, wherein determining the corrected pixel values based on therobust affine model includes applying a downweight to outlier pixelpairs that do not correspond to a same special location.
 11. The methodof claim 8, further comprising increasing saturation of the set of pixelvalues.
 12. The method of claim 8, wherein each of the set of cameramodules is positioned to have at least one overlapping field of viewwith another camera module of the set of camera modules.
 13. The methodof claim 12, wherein determining the corrected pixel values includesidentifying that the corrected pixel values are for corresponding pixelsin the at least one overlapping field of view that do not include thecolor deficiencies.
 14. The method of claim 12, wherein the camera arraygenerates a stereoscopic image based at least in part on the at leastone overlapping field of view.
 15. A computer program product comprisinga non-transitory computer-usable medium including a computer-readableprogram, wherein the computer-readable program when executed on acomputer causes the computer to: identify, at a runtime, a camera arraycomprising a set of camera modules that are each substantially identicalrelative to one another and communicatively coupled to one another via adaisy chain; receive video data describing image frames from the cameraarray captured by the set of camera modules; stitch the image framestogether based on a frame sync signal and a relative position of eachcamera module of the set of camera modules to generate three-dimensionalvideo data; determine that color deficiencies occurred in the stitchedimage frames based on at least some of the camera modules facingdifferent directions; determine corrected pixel values for originalpixel values in the stitched image frames that include the colordeficiencies; and generate three-dimensional content that includes thecorrected pixel values in a set of pixel values.
 16. The computerprogram product of claim 15, wherein determining the corrected pixelvalues is based on a robust affine model that transforms one set ofcolor values into another.
 17. The computer program product of claim 16,wherein determining the corrected pixel values based on the robustaffine model includes applying a downweight to outlier pixel pairs thatdo not correspond to a same special location.
 18. The computer programproduct of claim 15, wherein the computer-readable program when executedon the computer further causes the computer to increasing saturation ofthe set of pixel values.
 19. The computer program product of claim 15,wherein each of the set of camera modules is positioned to have at leastone overlapping field of view with another camera module of the set ofcamera modules.
 20. The computer program product of claim 19, whereindetermining the corrected pixel values includes identifying that thecorrected pixel values are for corresponding pixels in the at least oneoverlapping field of view that do not include the color deficiencies.